基于逆运动学和足端轨迹优化的水下六足机器人控制系统设计  

Control System for Underwater Hexapod Robot Based on Inverse Kinematics and Foot Trajectory Optimization

作　　者：路纲泰 杨柯 陈徽 LU Gangtai;YANG Ke;CHEN Hui(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018

出　　处：《水下无人系统学报》2025年第1期124-130,共7页Journal of Unmanned Undersea Systems

摘　　要：水下六足机器人具有强带负载能力和地形适应能力,非常适合在复杂多变的海底环境进行近地观测和采样。控制系统是实现水下六足机器人稳定行走的关键技术。文中提出了基于逆运动学和足端轨迹优化的水下六足机器人控制系统设计方法。建立D-H坐标系,推导出足端轨迹与关节角之间的解析关系(正运动学);通过多项式优化的方式规划出平滑的足端轨迹,进而求解出对应的关节角(逆运动学);以PC104为主控单元,在ROS2环境中进行足端轨迹优化和逆运动学求解,通过EtherCAT技术实现关节电机的同步跟踪,设计出适用于水下六足机器人的控制系统。在水池中对水下六足机器人的典型运动方式(直行和转动)进行了验证,实验结果表明,文中设计的控制系统可以实现水下六足机器人的稳定行走。The underwater hexapod robot has a strong load carrying ability and terrain adaptability,which is very suitable fornear-earth observation and sampling in complex and changeable seabed environments.The control system is the keytechnology to realize the stable walking of underwater hexapod robots.In this paper,a control system design method forunderwater hexapod robots based on inverse kinematics and foot trajectory optimization was proposed.The D-H coordinatesystem was established to derive the analytical relationship between the foot trajectory and the joint angle(positive kinematics).Through polynomial optimization,a smooth foot trajectory was planned,and then the corresponding joint angle(inversekinematics)was solved.With PC104 as the main control unit,the foot trajectory optimization and inverse kinematics solvingwere conducted in the ROS2 environment,and the synchronous tracking of the joint motor was realized through EtherCATtechnology.The control system suitable for underwater hexapod robots was designed.The typical movement patterns(straightand turning)of the underwater hexapod robot were verified in the pool.Experimental results show that the control systemdesigned in this paper can realize the stable walking of the underwater hexapod robot.

关 键 词：水下六足机器人 控制系统 逆运动学 足端轨迹优化 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U674.94[交通运输工程—船舶及航道工程]